Goods transportation method and device based on railway vehicle and readable storage medium
By forming a virtual marshalling train between cargo transport vehicles and rail vehicles in rail transit, automated transportation is achieved, and the problem of low cargo transport efficiency is solved, transportation efficiency is improved and costs are saved.
Patent Information
- Application Number
- CN202411290022.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2024-12-10
AI Technical Summary
In rail transit, rail vehicles need to be manually pushed into or pushed out during cargo transportation, resulting in inefficient transportation and affecting the line running time and cost.
By forming a virtual marshalling train between the cargo transport vehicles and the rail vehicles, the cargo transport vehicles follow the rail vehicles in the track, and use the path planning and vehicle control modules to determine the loading and unloading paths and docking positions to achieve automated transportation.
It improves the efficiency of cargo transportation, reduces manpower participation, avoids interference with the normal operation of rail transit, and saves transportation costs.
Smart Images
Figure CN119107000A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of rail transit technology, and in particular to a method, device and readable storage medium for transporting goods based on rail vehicles. Background Art
[0002] Urban rail transit has become a limited mode of transportation choice for urban residents due to its high speed, safety and comfort. At present, in order to save the transportation costs of goods, logistics companies will also choose to use rail transit to transport goods during off-peak periods.
[0003] During the cargo operation process, logistics companies need to dispatch logistics personnel to follow the rail transit to transport cargo, so as to manually push the cargo to be transported into / out of the rail vehicle when getting on and off the vehicle; and in the process of manual transportation, it takes a long time to push the cargo to be transported onto the vehicle (or, push it off the vehicle), which will also delay the operation time of the entire line and reduce the transportation efficiency of rail transit. Summary of the invention
[0004] In view of this, the purpose of the present application is to provide a cargo transportation method, device and readable storage medium based on rail vehicles. The cargo transport vehicle and the rail vehicle form a virtual train. The cargo transport vehicle can complete the transportation of the goods to be transported while following the operation of the rail vehicle on the track without interfering with the normal operation of rail transit. In this way, the transportation efficiency of the goods to be transported can be improved.
[0005] The embodiment of the present application provides a rail vehicle-based cargo transportation method, which is applied to a cargo transportation system; the cargo transportation vehicle and the rail vehicle form a virtual train set, and the cargo transportation vehicle follows the rail vehicle in the track; the cargo transportation method includes:
[0006] Based on the cargo transportation information of the cargo to be transported, determining the loading path of the cargo transportation vehicle on which the cargo to be transported is carried and the cargo transport vehicle on which the cargo to be transported is loaded in the loading platform;
[0007] In response to the cargo transport vehicle arriving at the loading station for the cargo to be transported, controlling the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location;
[0008] In response to the arrival departure time of the rail vehicle forming a virtual train set with the freight transport vehicle, determining whether the freight transport vehicle has completed loading and unloading of the freight to be transported;
[0009] If yes, request to control the cargo transport vehicle to follow the rail vehicle according to the departure time;
[0010] In response to the cargo transport vehicle arriving at the unloading platform of the cargo to be transported, the cargo handling vehicle is controlled to drive out of the cargo transport vehicle according to the unloading path to unload the cargo to be transported to the logistics sorting area.
[0011] In a possible implementation, the cargo transportation method further includes:
[0012] If not, requesting to release the virtual train formed by the freight transport vehicle and the rail vehicle, and controlling the freight transport vehicle to stay at the loading platform;
[0013] In response to the cargo transport vehicle completing the loading and unloading of the cargo to be transported, the cargo transport vehicle is controlled to form a virtual train with the rail vehicle again.
[0014] In a possible implementation, the cargo transportation information includes the departure platform and the destination platform of the cargo to be transported; and determining, based on the cargo transportation information of the cargo to be transported, the cargo transportation vehicle on which the cargo to be transported is carried and the loading path of the cargo transport vehicle on which the cargo to be transported is loaded in the loading platform includes:
[0015] Based on the departure platform and the destination platform, determining a parking compartment of the freight transport vehicle where the freight to be transported is to be transported;
[0016] Based on the current parking position of the cargo handling vehicle and the compartment position of the parked compartment, a loading path for the cargo handling vehicle to travel from the current parking position to the parked compartment is determined.
[0017] In a possible implementation manner, before the cargo transport vehicle arrives at the unloading platform for the cargo to be transported, the cargo transport method further includes:
[0018] During the transportation of the goods to be transported, detecting the current arrival platform of the goods to be transported and the travel path of the cargo transport vehicle loaded with the goods to be transported out of the cargo transport vehicle;
[0019] In combination with the current arrival platform and the travel path, the parking position of the cargo handling vehicle loaded with the cargo to be transported in the cargo transport vehicle is adjusted.
[0020] In a possible implementation manner, controlling the cargo transport vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location includes:
[0021] The cargo transport vehicle is controlled to drive into the cargo transportation vehicle according to the loading path, the passenger compartment seats arranged at the designated position are flipped over, and the cargo transport vehicle is parked at the designated position.
[0022] In a possible implementation, the cargo transportation method further includes:
[0023] detecting the running power of the cargo transport vehicle;
[0024] In response to the running power being lower than a power threshold, the cargo transport vehicle is controlled to travel to a charging area so that the cargo transport vehicle is charged in the charging area.
[0025] In a possible implementation, in response to the cargo transport vehicle arriving at the loading station for the cargo to be transported, controlling the cargo handling vehicle to drive into the cargo transport vehicle along the loading path includes:
[0026] In response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, raising a liftable step provided on the side of the loading platform to connect the loading platform and the cargo transport vehicle by using the liftable step;
[0027] The cargo transport vehicle is controlled to enter the cargo transport vehicle through the liftable pedal according to the loading path.
[0028] The embodiment of the present application further provides a rail vehicle-based cargo transportation device, which is applied to a cargo transportation system; the cargo transportation vehicle and the rail vehicle form a virtual train set, and the cargo transportation vehicle follows the rail vehicle in the track; the cargo transportation device includes:
[0029] A path planning module, for determining, based on the cargo transportation information of the cargo to be transported, a loading path of a cargo transport vehicle on which the cargo to be transported is carried and a cargo transport vehicle on which the cargo to be transported is loaded in a loading platform;
[0030] A cargo handling module, configured to control the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated position in response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported;
[0031] A departure judgment module, used to determine whether the cargo transport vehicle has completed the loading and unloading of the cargo to be transported in response to the arrival of the departure time of the rail vehicle that forms a virtual train formation with the cargo transport vehicle;
[0032] A vehicle control module, for requesting to control the cargo transport vehicle to follow the rail vehicle according to the departure time;
[0033] The cargo sorting module is used to control the cargo handling vehicle to drive out of the cargo transport vehicle according to the unloading path in response to the cargo transport vehicle arriving at the unloading platform of the cargo to be transported, so as to unload the cargo to be transported to the logistics sorting area.
[0034] In a possible implementation, the cargo transport device further includes a stop control module, and the stop control module is used to:
[0035] If not, requesting to release the virtual train formed by the freight transport vehicle and the rail vehicle, and controlling the freight transport vehicle to stay at the loading platform;
[0036] In response to the cargo transport vehicle completing the loading and unloading of the cargo to be transported, the cargo transport vehicle is controlled to form a virtual train with the rail vehicle again.
[0037] In a possible implementation, the cargo transportation information includes the departure platform and the destination platform of the cargo to be transported; when the path planning module is used to determine the cargo transportation vehicle on which the cargo to be transported is carried and the loading path of the cargo transport vehicle on which the cargo to be transported is loaded in the loading platform based on the cargo transportation information of the cargo to be transported, the path planning module is used to:
[0038] Based on the departure platform and the destination platform, determining a parking compartment of the freight transport vehicle where the freight to be transported is to be transported;
[0039] Based on the current parking position of the cargo handling vehicle and the compartment position of the parked compartment, a loading path for the cargo handling vehicle to travel from the current parking position to the parked compartment is determined.
[0040] In a possible implementation, before the cargo transport vehicle arrives at the unloading platform for the cargo to be transported, the cargo transport device further includes a position planning module, and the position planning module is used to:
[0041] During the transportation of the goods to be transported, detecting the current arrival platform of the goods to be transported and the travel path of the cargo transport vehicle loaded with the goods to be transported out of the cargo transport vehicle;
[0042] In combination with the current arrival platform and the travel path, the parking position of the cargo handling vehicle loaded with the cargo to be transported in the cargo transport vehicle is adjusted.
[0043] In a possible implementation, when the cargo handling module is used to control the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location, the cargo handling module is used to:
[0044] The cargo transport vehicle is controlled to drive into the cargo transportation vehicle according to the loading path, the passenger compartment seats arranged at the designated position are flipped over, and the cargo transport vehicle is parked at the designated position.
[0045] In a possible implementation, the cargo transport device further includes a charging detection module, and the charging detection module is used to:
[0046] detecting the running power of the cargo transport vehicle;
[0047] In response to the running power being lower than a power threshold, the cargo transport vehicle is controlled to travel to a charging area so that the cargo transport vehicle is charged in the charging area.
[0048] In a possible implementation, when the cargo handling module is used to control the cargo handling vehicle to enter the cargo transport vehicle according to the loading path in response to the cargo transport vehicle arriving at the loading station for the cargo to be transported, the cargo handling module is used to:
[0049] In response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, raising a liftable step provided on the side of the loading platform to connect the loading platform and the cargo transport vehicle by using the liftable step;
[0050] The cargo transport vehicle is controlled to enter the cargo transport vehicle through the liftable pedal according to the loading path.
[0051] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned rail vehicle-based cargo transportation method are performed.
[0052] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned rail vehicle-based cargo transportation method are executed.
[0053] The embodiments of the present application provide a rail vehicle-based cargo transportation method, device and readable storage medium. Based on the cargo transportation information of the cargo to be transported, the loading path of the cargo transport vehicle on which the cargo to be transported is carried and the cargo truck on which the cargo to be transported is loaded in the loading platform are determined; in response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, the cargo truck is controlled to drive into the cargo transport vehicle according to the loading path and stop at a designated position; in response to the arrival departure time of the rail vehicle that forms a virtual train with the cargo transport vehicle, it is determined whether the cargo transport vehicle has completed the loading and unloading of the cargo to be transported; if so, it is requested to control the cargo transport vehicle to follow the rail vehicle according to the departure time; in response to the cargo transport vehicle arriving at the unloading platform for the cargo to be transported, the cargo truck is controlled to drive out of the cargo transport vehicle according to the unloading path to unload the cargo to be transported to the logistics sorting area. In this way, the freight transport vehicle and the rail vehicle can be set as a virtual train formation. The freight transport vehicle can follow the rail vehicle to complete the transportation of the goods to be transported in the process of following the operation, so that the transportation process of the goods to be transported is separated from the actual operation process of the rail vehicle, and will not interfere with the normal operation of rail transit. In this way, the transportation efficiency of the goods to be transported can be improved; in addition, the transportation process does not require human participation, which can also save labor costs.
[0054] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0056] Figure 1 A flow chart of a rail vehicle-based cargo transportation method provided in an embodiment of the present application;
[0057] Figure 2 A schematic diagram of a virtual train assembly provided in an embodiment of the present application;
[0058] Figure 3 An internal schematic diagram of a cargo transport vehicle provided in an embodiment of the present application;
[0059] Figure 4 A schematic diagram of the structure of a rail vehicle-based cargo transportation device provided in an embodiment of the present application;
[0060] Figure 5A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0061] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.
[0062] Research has found that urban rail transit has become a limited mode of transportation choice for urban residents due to its high speed, safety and comfort. At present, in order to save the transportation costs of goods, logistics companies will also choose to use rail transit to transport goods during off-peak periods.
[0063] During the cargo operation process, logistics companies need to dispatch logistics personnel to follow the rail transit to transport cargo, so as to manually push the cargo to be transported into / out of the rail vehicle when getting on and off the vehicle; and in the process of manual transportation, it takes a long time to push the cargo to be transported onto the vehicle (or, push it off the vehicle), which will also delay the operation time of the entire line and reduce the transportation efficiency of rail transit.
[0064] Based on this, an embodiment of the present application provides a cargo transportation method based on rail vehicles, which can be used to set the cargo transportation vehicle and the rail vehicle as a virtual train. The cargo transportation vehicle can follow the rail vehicle to complete the transportation of the goods to be transported in the process of following the operation, so that the transportation process of the goods to be transported is separated from the actual operation process of the rail vehicle, and will not interfere with the normal operation of rail transit. In this way, the transportation efficiency of the goods to be transported can be improved; in addition, the transportation process does not require human participation, which can also save labor costs.
[0065] See also Figure 1 , Figure 1 A flow chart of a method for transporting goods based on rail vehicles provided in an embodiment of the present application. Applied to a freight transport system; a freight transport vehicle and the rail vehicle form a virtual train set, and the freight transport vehicle follows the rail vehicle in the track; Figure 1 As shown in , the rail vehicle-based cargo transportation method provided by the embodiment of the present application includes:
[0066] S101. Based on cargo transportation information of cargo to be transported, determine a cargo transportation vehicle on which the cargo to be transported is carried and a loading path of a cargo transport vehicle on which the cargo to be transported is loaded in a loading platform.
[0067] S102: In response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, controlling the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location.
[0068] S103: In response to the arrival departure time of the rail vehicle that forms a virtual train formation with the freight transport vehicle, determine whether the freight transport vehicle has completed loading and unloading of the freight to be transported.
[0069] S104: If yes, request to control the cargo transport vehicle to follow the rail vehicle according to the departure time.
[0070] S105. In response to the cargo transport vehicle arriving at the unloading platform of the cargo to be transported, control the cargo handling vehicle to drive out of the cargo transport vehicle according to the unloading path to unload the cargo to be transported to the logistics sorting area.
[0071] A rail vehicle-based freight transportation method provided in an embodiment of the present application binds a freight transportation vehicle and a rail vehicle into a virtual train assembly, so that the freight transportation vehicle can follow the rail vehicle during the operation time of the rail vehicle and will not interfere with the operation process of the rail vehicle;
[0072] Furthermore, considering that passengers get on and off the train more efficiently and in a shorter time than the goods to be transported, when the rail vehicle arrives at the departure time, there is a situation where the goods to be transported are not fully loaded. At this time, in order not to affect the normal operation of the rail vehicle, the virtual train formed by the rail vehicle and the cargo transport vehicle can be released, so that the cargo transport vehicle no longer follows the rail vehicle, the rail vehicle departs normally according to the departure time, and the cargo transport vehicle continues to load the goods to be transported;
[0073] Until the goods to be transported arrive at the unloading platform, the cargo truck is controlled to unload the goods to be transported to the logistics sorting area, so that the transportation of the goods to be transported can be completed with the help of rail transportation without human intervention, thereby reducing labor costs.
[0074] In step S101, the logistics transportation system may submit a logistics transportation request to the rail signal system. At this time, the rail signal system may determine the cargo transportation information of the goods to be transported by analyzing the logistics transportation request; then, based on the cargo transportation information of the goods to be transported, it is determined to complete the transportation of the goods to be transported, the cargo transportation vehicle that the goods to be transported need to take, and the loading path that the cargo truck loaded with the goods to be transported needs to take to travel to the loading platform.
[0075] The cargo transportation information (ie, logistics transportation OD, Origin-Destination) includes the origin platform (ie, departure place) and destination platform (ie, destination) of the cargo to be transported.
[0076] Both freight transport vehicles and rail vehicles are rail transit electric passenger cars. According to the differences in transportation needs, rail transit electric passenger cars can have both freight transport and passenger transport functions; that is, when the rail vehicle receives an operating task issued by the rail signal system in a logistics transport mode, the rail transit electric passenger car acts as a freight transport vehicle to transport the goods to be transported; when the rail vehicle receives an operating task issued by the rail signal system in a passenger transport mode, the rail transit electric passenger car acts as a rail vehicle to transport passengers.
[0077] The on-board subsystem of the cargo transportation system can update the position of the cargo truck in the compartment in real time according to the information of the cargo to be transported in the compartment of the cargo transportation vehicle. The cargo truck can update the data according to the position information sent by the on-board subsystem of the cargo transportation system and adjust the position in the compartment. The logistics subsystem in the compartment updates the actual position of the logistics truck and reports it to the cargo transportation system. The cargo transportation system updates the global logistics transportation information in real time according to the transportation information of the logistics transportation platform.
[0078] Here, in order to facilitate the management of the goods to be transported loaded in the cargo transport vehicle and reasonably arrange the "getting on" / "getting off" of the goods to be transported, it is necessary to combine the cargo transportation information of the goods to be transported and determine the parking compartment that is suitable for parking the cargo truck loaded with the goods to be transported during the transportation process, so as to ensure that the parking of the cargo truck carrying the goods to be transported will not affect the "getting on" / "getting off" of other goods.
[0079] In one embodiment, the cargo transportation information includes the originating station and the destination station of the cargo to be transported; step S101 includes:
[0080] S1011. Based on the departure platform and the destination platform, determine a parking compartment of the freight transport vehicle in which the freight to be transported is to be parked.
[0081] S1012: Based on the current parking position of the cargo transport vehicle and the compartment position of the parked compartment, determine a loading path for the cargo transport vehicle to travel from the current parking position to the parked compartment.
[0082] In this step, after clarifying the parking position of the cargo truck in the cargo transport vehicle (i.e., the parking compartment), the cargo transport system can plan the loading path for the cargo truck from the current parking position to the parking compartment on the rail transit platform according to the current parking position and parking compartment of the cargo truck; wherein the loading path can indicate the moving path, passenger compartment door and loading platform of the cargo truck on the rail transit platform.
[0083] In step S102, if the cargo transport vehicle transporting the cargo to be transported arrives at the loading station of the cargo to be transported (i.e., the departure station of the cargo), the cargo transport system can control the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and park at a designated position of the cargo transport vehicle;
[0084] Specifically, the rail signal system responds to the arrival of the freight transport vehicle at the loading platform for loading the goods to be transported, opens the platform screen door and the passenger compartment door, and sends the vehicle parking status to the freight transport system; so that the platform subsystem of the freight transport system controls the freight transport vehicle to start from the current parking position, drive to the loading platform and enter the freight transport vehicle according to the loading path pre-planned by the freight transport system; after the freight transport vehicle enters the freight transport vehicle, the freight transport vehicle establishes communication with the on-board subsystem of the freight transport system, and the on-board subsystem controls the freight transport vehicle to park at a designated position in the freight transport vehicle.
[0085] Here, during off-peak operation periods, the rail vehicles that are usually used for operation can be used as cargo transport vehicles; however, the operating rail vehicles are equipped with passenger seats, and the setting of the passenger seats will affect the parking of the cargo truck. Therefore, in order to avoid affecting the parking of the cargo truck, when the rail vehicle receives the operating task sent by the rail signal system as a logistics transportation mode, the passenger seats can be configured as foldable seats, and the folding status can be fed back to the vehicle system, so that when the cargo truck is parked, the passenger seats can be automatically folded to the designated position to avoid affecting the parking of the cargo truck.
[0086] In one embodiment, controlling the cargo transport vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location includes:
[0087] The cargo transport vehicle is controlled to drive into the cargo transportation vehicle according to the loading path, the passenger compartment seats arranged at the designated position are flipped over, and the cargo transport vehicle is parked at the designated position.
[0088] In this step, the cargo transportation system transmits the logistics task to the cargo truck (AGV logistics truck) through the RFID function to form the logistics OD data of the cargo truck; so that the cargo truck can drive into the cargo transportation vehicle according to the loading path recorded in the logistics OD data; and before the cargo truck arrives at the designated position, the rail signal system can communicate with the rail vehicle-mounted logistics system to flip the passenger compartment seats set at the designated position through the rail vehicle-mounted logistics system, so that the cargo truck can be parked at the designated position.
[0089] Among them, flipping includes flipping up and flipping down.
[0090] Here, from the perspective of rail vehicles, there are strictly regulated parking times and departure times, and it takes a long time for freight vehicles to load goods. If the rail vehicle waits for the freight vehicle to depart at the same time, it will affect the operation time of the rail vehicle; if the parking time of the freight vehicle is compressed, it may not be possible to complete the loading of all the goods to be transported;
[0091] From the perspective of freight transport vehicles, freight transport vehicles do not need to load or unload the goods to be transported at every station. In fact, freight transport vehicles can catch up with the rail vehicles that have already departed during the subsequent transportation process. Therefore, when the freight transport vehicles have completed the loading of goods, the freight transport vehicles can be arranged to depart together with the rail vehicles; when the freight transport vehicles have not completed the loading of goods, the rail signal system can arrange the rail vehicles to depart first according to the departure time.
[0092] In step S103, when the rail vehicle followed by the freight transport vehicle arrives at the departure time, it can be judged whether the freight transport vehicle has completed the loading and unloading of the goods to be transported, so as to avoid forced departure and failure to smoothly complete the transportation of the goods to be transported when the freight transport vehicle has not completed the loading and unloading. Specifically, in response to the arrival of the departure time of the rail vehicle that forms a virtual train with the freight transport vehicle, it is determined whether the freight transport vehicle has completed the loading and unloading of the goods to be transported at the current moment.
[0093] In step S104, if the cargo transport vehicle has completed loading and unloading of the cargo to be transported, it means that the cargo transport vehicle can depart at the departure time. At this time, it can be requested to control the cargo transport vehicle to follow the rail vehicle at the departure time.
[0094] In another embodiment, the control method further includes:
[0095] S106: If not, release the virtual train formed by the freight transport vehicle and the rail vehicle, and control the freight transport vehicle to stay at the loading platform.
[0096] In this step, if the freight transport vehicle has not completed the loading and unloading of the goods to be transported at this time, the virtual train formed by the freight transport vehicle and the rail vehicle is contacted, so that the freight transport vehicle does not need to follow the rail vehicle at the departure time. The freight transport vehicle can continue to stay on the loading platform to complete the loading and unloading tasks of the goods to be transported.
[0097] S107: In response to the cargo transport vehicle completing the loading and unloading of the cargo to be transported, controlling the cargo transport vehicle to form a virtual train with the rail vehicle again.
[0098] In this step, after the freight transport vehicle completes the loading and unloading of the goods to be transported, in response to the freight transport vehicle completing the loading and unloading of the goods to be transported, the freight transport vehicle can be controlled to "catch up" with the rail vehicle that has been dispatched, and in a manner consistent with the operating progress of the rail vehicle, the freight transport vehicle and the rail vehicle can be re-controlled to form a virtual train, so as to realize the following operation in rail transit again.
[0099] In step S105, after the goods to be transported arrive at the unloading platform, the cargo truck can be controlled to drive out of the cargo transport vehicle to deliver the goods to be transported to the logistics sorting area; specifically, in response to the cargo transport vehicle arriving at the unloading platform for the goods to be transported, the cargo truck is controlled to drive out of the cargo transport vehicle according to the planned unloading path to unload the goods to be transported to the logistics sorting area.
[0100] Among them, during the transportation process of the goods to be transported, the rail signal system / rail vehicle logistics system communicates with the platform logistics system in real time to plan the unloading path of the cargo handling vehicle at the unloading platform in advance.
[0101] Here, considering the height difference between the floor surface of the rail vehicle and the stop platform in rail transit, for a cargo transport vehicle, if it wants to drive into the cargo transport vehicle, the platform staff needs to set up a foldable barrier-free pedal between the screen door and the passenger compartment door, and then the logistics personnel will push it into the cargo transport vehicle. This process is time-consuming and labor-intensive, and will also increase the time for loading and unloading goods, affect the operation of the cargo transport vehicle, increase the stagnation time of the cargo transport vehicle, and affect the achievement rate of vehicle operation.
[0102] Therefore, when the cargo transport vehicle arrives at the loading platform for the cargo to be transported, the cargo transport vehicle is assisted to "get on" or "get off" by raising the liftable step provided on the side of the loading platform.
[0103] In one implementation, step S105 includes:
[0104] S1051. In response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, a liftable pedal provided on the side of the loading platform is raised to connect the loading platform and the cargo transport vehicle using the liftable pedal.
[0105] In this step, in response to the cargo transport vehicle arriving at the loading platform for the goods to be transported, the mechanical transmission device drives the gear transmission system through the built-in motor, and uses the second pedal edge of the liftable pedal as the rotating shaft to control the first pedal edge of the liftable pedal to tilt upward, so that the liftable pedal is in a tilted state between the passenger compartment door and the shield door, and then, the liftable pedal is used to connect the loading platform and the cargo transport vehicle to assist the cargo handling vehicle in performing the transportation task.
[0106] S1052: Control the cargo transport vehicle to enter the cargo transport vehicle through the liftable pedal according to the loading path.
[0107] Here, during the transportation process of the goods to be transported, as the distance between the goods to be transported and the destination (i.e., the destination platform) gets closer and closer, in order to enable the cargo truck loaded with the goods to be transported to smoothly drive out of the cargo transport vehicle and reduce the unloading time, the parking position of the cargo truck in the cargo transport vehicle can be adjusted in time.
[0108] In one embodiment, before the cargo transport vehicle arrives at the unloading platform for the cargo to be transported, the cargo transport method further comprises:
[0109] S108. During the transportation process of the goods to be transported, detecting the current arrival platform of the goods to be transported and the travel path of the cargo transport vehicle on which the cargo transport vehicle loaded with the goods to be transported leaves.
[0110] In this step, during the transportation of the goods to be transported, the on-board subsystem of the cargo transportation system detects in real time the current arrival platform where the goods to be transported arrive and the driving path of the cargo transport vehicle where the cargo truck loaded with the goods to be transported leaves, and communicates in real time with the rail signal system and the cargo transportation system respectively to exchange the real-time arrival information of the vehicle and the real-time logistics transportation status.
[0111] S109: adjusting the parking position of the cargo transport vehicle loaded with the cargo to be transported in the cargo transport vehicle in combination with the current arrival platform and the travel path.
[0112] In this step, the parking position of the cargo truck loaded with the goods to be transported in the cargo transport vehicle is adjusted in real time in combination with the current arrival platform and the driving path, so that the parking position of the goods to be transported that is about to arrive at the destination platform can be closer to the vehicle door, so as to facilitate the unloading of the goods to be transported.
[0113] Here, considering that the cargo truck cannot continue to perform the transportation task when the power of the cargo truck is low, at this time, the cargo truck can be controlled to go to the charging area for charging.
[0114] In one embodiment, the cargo transportation method further comprises:
[0115] The running power of the cargo transport vehicle is detected; in response to the running power being lower than a power threshold, the cargo transport vehicle is controlled to travel to a charging area so that the cargo transport vehicle is charged in the charging area.
[0116] In this step, the operating power of the cargo truck is detected in real time, so that when the operating power of the cargo truck is lower than the power threshold, the cargo truck is controlled to drive to the charging area and complete charging according to the pre-planned charging driving route, thereby preventing the cargo truck from being unable to complete the transportation task due to low power during the cargo transportation process.
[0117] See also Figure 2 , Figure 2 A schematic diagram of a virtual train assembly provided in an embodiment of the present application. Figure 2 As shown in the figure, the freight transport vehicle 2a and the rail vehicle 2b form a virtual train set; the rail signal system 2c can communicate with the freight transport vehicle 2a and the rail vehicle 2b respectively; the freight transport vehicle 2d can enter the freight transport vehicle 2a; the rail signal system 2c / rail vehicle logistics system 2e communicates with the platform logistics system 2f in real time.
[0118] See also Figure 3 , Figure 3 This is a schematic diagram of the interior of a cargo transport vehicle provided in an embodiment of the present application. Figure 3 As shown in FIG. 1 , the vehicle system 3a of the rail vehicle controls the passenger compartment seat 3c in the cargo transport vehicle 3b to flip over so that the on-board subsystem cargo transport vehicle 3d of the cargo transport system is parked at the setting position of the passenger compartment seat 3c.
[0119] An embodiment of the present application provides a rail vehicle-based cargo transportation method, which determines the loading path of the cargo transport vehicle on which the cargo to be transported is carried and the cargo truck on which the cargo to be transported is loaded at the loading platform based on the cargo transportation information of the cargo to be transported; in response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, controls the cargo truck to drive into the cargo transport vehicle according to the loading path and stops at a designated position; in response to the arrival departure time of the rail vehicle that forms a virtual train with the cargo transport vehicle, determines whether the cargo transport vehicle has completed the loading and unloading of the cargo to be transported; if so, controls the cargo transport vehicle to run according to the departure time and follows the rail vehicle; in response to the cargo transport vehicle arriving at the unloading platform for the cargo to be transported, controls the cargo truck to drive out of the cargo transport vehicle according to the unloading path to unload the cargo to be transported to the logistics sorting area. In this way, the freight transport vehicle and the rail vehicle can be set as a virtual train formation. The freight transport vehicle can follow the rail vehicle to complete the transportation of the goods to be transported in the process of following the operation, so that the transportation process of the goods to be transported is separated from the actual operation process of the rail vehicle, and will not interfere with the normal operation of rail transit. In this way, the transportation efficiency of the goods to be transported can be improved; in addition, the transportation process does not require human participation, which can also save labor costs.
[0120] See also Figure 4 , Figure 4 A structural schematic diagram of a rail vehicle-based cargo transportation device provided in an embodiment of the present application. Applied to a cargo transportation system; a cargo transportation vehicle and the rail vehicle form a virtual train set, and the cargo transportation vehicle follows the rail vehicle in the track; Figure 4 As shown in , the cargo transport device 400 includes:
[0121] A path planning module 410 is used to determine, based on the cargo transportation information of the cargo to be transported, a loading path of a cargo transport vehicle on which the cargo to be transported is carried and a cargo transport vehicle on which the cargo to be transported is loaded in a loading platform;
[0122] The cargo handling module 420 is used to control the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated position in response to the cargo transport vehicle arriving at the loading platform of the cargo to be transported;
[0123] The departure judgment module 430 is used to determine whether the cargo transport vehicle has completed the loading and unloading of the cargo to be transported in response to the arrival of the departure time of the rail vehicle that forms a virtual train formation with the cargo transport vehicle;
[0124] The vehicle control module 440 is used to request to control the cargo transport vehicle to follow the rail vehicle according to the departure time;
[0125] The cargo sorting module 450 is used to control the cargo handling vehicle to drive out of the cargo transport vehicle according to the unloading path in response to the cargo transport vehicle arriving at the unloading platform of the cargo to be transported, so as to unload the cargo to be transported to the logistics sorting area.
[0126] Furthermore, the cargo transport device 400 further includes a stop control module (not shown in the figure), which is used to:
[0127] If not, requesting to release the virtual train formed by the freight transport vehicle and the rail vehicle, and controlling the freight transport vehicle to stay at the loading platform;
[0128] In response to the cargo transport vehicle completing the loading and unloading of the cargo to be transported, the cargo transport vehicle is controlled to form a virtual train with the rail vehicle again.
[0129] Further, the cargo transportation information includes the departure platform and the destination platform of the cargo to be transported; when the path planning module 410 is used to determine the cargo transportation vehicle on which the cargo to be transported is carried and the loading path of the cargo transport vehicle on which the cargo to be transported is loaded in the loading platform based on the cargo transportation information of the cargo to be transported, the path planning module 410 is used to:
[0130] Based on the departure platform and the destination platform, determining a parking compartment of the freight transport vehicle where the freight to be transported is to be transported;
[0131] Based on the current parking position of the cargo handling vehicle and the compartment position of the parked compartment, a loading path for the cargo handling vehicle to travel from the current parking position to the parked compartment is determined.
[0132] Furthermore, before the cargo transport vehicle arrives at the unloading platform for the cargo to be transported, the cargo transport device 400 further includes a position planning module (not shown in the figure), which is used to:
[0133] During the transportation of the goods to be transported, detecting the current arrival platform of the goods to be transported and the travel path of the cargo transport vehicle loaded with the goods to be transported out of the cargo transport vehicle;
[0134] In combination with the current arrival platform and the travel path, the parking position of the cargo handling vehicle loaded with the cargo to be transported in the cargo transport vehicle is adjusted.
[0135] Furthermore, when the cargo handling module 420 is used to control the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location, the cargo handling module 420 is used to:
[0136] The cargo transport vehicle is controlled to drive into the cargo transportation vehicle according to the loading path, the passenger compartment seats arranged at the designated position are flipped over, and the cargo transport vehicle is parked at the designated position.
[0137] Furthermore, the cargo transport device 400 further includes a charging detection module (not shown in the figure), which is used to:
[0138] detecting the running power of the cargo transport vehicle;
[0139] In response to the running power being lower than a power threshold, the cargo transport vehicle is controlled to travel to a charging area so that the cargo transport vehicle is charged in the charging area.
[0140] Furthermore, when the cargo handling module 420 is used to control the cargo handling vehicle to enter the cargo transport vehicle according to the loading path in response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, the cargo handling module 420 is used to:
[0141] In response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, raising a liftable step provided on the side of the loading platform to connect the loading platform and the cargo transport vehicle by using the liftable step;
[0142] The cargo transport vehicle is controlled to enter the cargo transport vehicle through the liftable pedal according to the loading path.
[0143] An embodiment of the present application provides a rail vehicle-based cargo transportation device, which determines the loading path of the cargo transportation vehicle on which the cargo to be transported is carried and the cargo truck on which the cargo to be transported is loaded at the loading platform based on the cargo transportation information of the cargo to be transported; in response to the cargo transportation vehicle arriving at the loading platform for the cargo to be transported, controls the cargo truck to drive into the cargo transportation vehicle according to the loading path and stops at a designated position; in response to the arrival departure time of the rail vehicle that forms a virtual train formation with the cargo transportation vehicle, determines whether the cargo transportation vehicle has completed the loading and unloading of the cargo to be transported; if so, requests to control the cargo transportation vehicle to follow the rail vehicle to run according to the departure time; in response to the cargo transportation vehicle arriving at the unloading platform for the cargo to be transported, controls the cargo truck to drive out of the cargo transportation vehicle according to the unloading path to unload the cargo to be transported to the logistics sorting area. In this way, the freight transport vehicle and the rail vehicle can be set as a virtual train formation. The freight transport vehicle can follow the rail vehicle to complete the transportation of the goods to be transported in the process of following the operation, so that the transportation process of the goods to be transported is separated from the actual operation process of the rail vehicle, and will not interfere with the normal operation of rail transit. In this way, the transportation efficiency of the goods to be transported can be improved; in addition, the transportation process does not require human participation, which can also save labor costs.
[0144] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .
[0145] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 The specific implementation of the steps of the rail vehicle-based cargo transportation method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.
[0146] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the rail vehicle-based cargo transportation method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.
[0147] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.
[0148] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.
[0149] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0150] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0151] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0152] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A method for transporting goods based on rail vehicles, characterized in that: Applied to a cargo transportation system; a cargo transportation vehicle and the rail vehicle form a virtual train set, and the cargo transportation vehicle follows the rail vehicle in the track; the cargo transportation method comprises: Based on the cargo transportation information of the cargo to be transported, determining the loading path of the cargo transportation vehicle on which the cargo to be transported is carried and the cargo transport vehicle on which the cargo to be transported is loaded in the loading platform; In response to the cargo transport vehicle arriving at the loading station for the cargo to be transported, controlling the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location; In response to the arrival departure time of the rail vehicle forming a virtual train set with the freight transport vehicle, determining whether the freight transport vehicle has completed loading and unloading of the freight to be transported; If yes, request to control the cargo transport vehicle to follow the rail vehicle according to the departure time; In response to the cargo transport vehicle arriving at the unloading platform of the cargo to be transported, the cargo handling vehicle is controlled to drive out of the cargo transport vehicle according to the unloading path to unload the cargo to be transported to the logistics sorting area.
2. The cargo transportation method according to claim 1, characterized in that: The cargo transportation method also includes: If not, requesting to release the virtual train formed by the freight transport vehicle and the rail vehicle, and controlling the freight transport vehicle to stay at the loading platform; In response to the cargo transport vehicle completing the loading and unloading of the cargo to be transported, the cargo transport vehicle is controlled to form a virtual train with the rail vehicle again.
3. The cargo transportation method according to claim 1, characterized in that: The cargo transportation information includes the departure platform and the destination platform of the cargo to be transported; the determination of the cargo transportation vehicle on which the cargo to be transported is carried and the loading path of the cargo transport vehicle on which the cargo to be transported is loaded in the loading platform based on the cargo transportation information of the cargo to be transported includes: Based on the departure platform and the destination platform, determining a parking compartment of the freight transport vehicle where the freight to be transported is to be transported; Based on the current parking position of the cargo handling vehicle and the compartment position of the parked compartment, a loading path for the cargo handling vehicle to travel from the current parking position to the parked compartment is determined.
4. The cargo transportation method according to claim 1, characterized in that: Before the cargo transport vehicle arrives at the unloading platform for the cargo to be transported, the cargo transport method further comprises: During the transportation of the goods to be transported, detecting the current arrival platform of the goods to be transported and the travel path of the cargo transport vehicle loaded with the goods to be transported out of the cargo transport vehicle; In combination with the current arrival platform and the travel path, the parking position of the cargo handling vehicle loaded with the cargo to be transported in the cargo transport vehicle is adjusted.
5. The cargo transportation method according to claim 1, characterized in that: The controlling the cargo transport vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated location includes: The cargo transport vehicle is controlled to drive into the cargo transportation vehicle according to the loading path, the passenger compartment seats arranged at the designated position are flipped over, and the cargo transport vehicle is parked at the designated position.
6. The cargo transportation method according to claim 1, characterized in that: The cargo transportation method also includes: detecting the running power of the cargo transport vehicle; In response to the running power being lower than a power threshold, the cargo transport vehicle is controlled to travel to a charging area so that the cargo transport vehicle is charged in the charging area.
7. The cargo transportation method according to claim 1, characterized in that: In response to the cargo transport vehicle arriving at the loading station for the cargo to be transported, controlling the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path comprises: In response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported, raising a liftable step provided on the side of the loading platform to connect the loading platform and the cargo transport vehicle by using the liftable step; The cargo transport vehicle is controlled to enter the cargo transport vehicle through the liftable pedal according to the loading path.
8. A cargo transportation device based on a rail vehicle, characterized in that: Applied to a cargo transportation system; the cargo transportation vehicle and the rail vehicle form a virtual train set, and the cargo transportation vehicle follows the rail vehicle in the track; the cargo transportation device comprises: A path planning module, for determining, based on the cargo transportation information of the cargo to be transported, a loading path of a cargo transport vehicle on which the cargo to be transported is carried and a cargo transport vehicle on which the cargo to be transported is loaded in a loading platform; A cargo handling module, configured to control the cargo handling vehicle to drive into the cargo transport vehicle according to the loading path and stop at a designated position in response to the cargo transport vehicle arriving at the loading platform for the cargo to be transported; A departure judgment module, used to determine whether the cargo transport vehicle has completed the loading and unloading of the cargo to be transported in response to the arrival of the departure time of the rail vehicle that forms a virtual train formation with the cargo transport vehicle; A vehicle control module, for requesting to control the cargo transport vehicle to follow the rail vehicle according to the departure time; The cargo sorting module is used to control the cargo handling vehicle to drive out of the cargo transport vehicle according to the unloading path in response to the cargo transport vehicle arriving at the unloading platform of the cargo to be transported, so as to unload the cargo to be transported to the logistics sorting area.
9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are run by the processor, the steps of the rail vehicle-based cargo transportation method as described in any one of claims 1 to 7 are executed.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the rail vehicle-based cargo transportation method according to any one of claims 1 to 7 are executed.